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<div class="title">D:/Workspace/Arduino/prencar/CurveLeft.cpp</div>  </div>
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<a href="_curve_left_8cpp.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="preprocessor">#include &quot;Arduino.h&quot;</span>
<a name="l00002"></a>00002 <span class="preprocessor">#include &quot;<a class="code" href="_curve_left_8h.html">CurveLeft.h</a>&quot;</span>
<a name="l00003"></a>00003 <span class="preprocessor">#include &quot;<a class="code" href="_move_8h.html">Move.h</a>&quot;</span>
<a name="l00004"></a>00004 <span class="preprocessor">#include &quot;<a class="code" href="_configuration_8h.html">Configuration.h</a>&quot;</span>
<a name="l00005"></a>00005 
<a name="l00009"></a><a class="code" href="class_curve_left.html#ad874ee9409da16dccd20549e6c2726b5">00009</a> <a class="code" href="class_curve_left.html#ad874ee9409da16dccd20549e6c2726b5">CurveLeft::CurveLeft</a>()
<a name="l00010"></a>00010 {
<a name="l00011"></a>00011 
<a name="l00012"></a>00012 }
<a name="l00013"></a>00013 
<a name="l00019"></a><a class="code" href="class_curve_left.html#a0e6f8f5d7f869edfaf34cf3e74676a86">00019</a> <span class="keywordtype">void</span> <a class="code" href="class_curve_left.html#a0e6f8f5d7f869edfaf34cf3e74676a86">CurveLeft::begin</a>(){
<a name="l00020"></a>00020   <a class="code" href="class_curve_left.html#a0e6f8f5d7f869edfaf34cf3e74676a86">LineFollow::begin</a>();
<a name="l00021"></a>00021 
<a name="l00022"></a>00022   <a class="code" href="class_curve_left.html#a0f7c63a8242780be79a08482380d9caa" title="This variable is set to true as soon as the curve is driven fully.">drivingCurveIsFinished</a> = <span class="keyword">false</span>;
<a name="l00023"></a>00023 }
<a name="l00024"></a>00024 
<a name="l00028"></a><a class="code" href="class_curve_left.html#a2f70c4b1efef29cdf04dff01e6a90336">00028</a> <span class="keywordtype">void</span> <a class="code" href="class_curve_left.html#a2f70c4b1efef29cdf04dff01e6a90336">CurveLeft::startIt</a>(){
<a name="l00029"></a>00029   <a class="code" href="class_line_follow.html#a8c494126e578f00240532b866b051718" title="The reference to the serial communication class.">_com</a>-&gt;<a class="code" href="class_communication.html#a8679b3cb7ceef5527faa24454ce0f18a">send</a>(67);
<a name="l00030"></a>00030   
<a name="l00031"></a>00031   <a class="code" href="class_curve_left.html#a0f7c63a8242780be79a08482380d9caa" title="This variable is set to true as soon as the curve is driven fully.">drivingCurveIsFinished</a> = <span class="keyword">false</span>;
<a name="l00032"></a>00032 
<a name="l00033"></a>00033   <a class="code" href="class_curve_left.html#a3f46785750e729247f26099a93cfaeb9">_timeCurveLeftStarted</a> = millis();
<a name="l00034"></a>00034 
<a name="l00035"></a>00035   <a class="code" href="class_line_follow.html#ac6fe17d43571248ea2e74fade7ceb5bd" title="The reference to the move class to control the motors.">_move</a>-&gt;<a class="code" href="class_move.html#a9c5dc5c3a98abece0c2f40085c3601be">controlMotors</a>(<a class="code" href="_move_8h.html#a4d576498f070661245f38f5f34d34f02a726a0af5164861adac8c015a742dcf21" title="The motor rotates forward.">forward</a>, <a class="code" href="class_line_follow.html#a0112816d723edd82daf2dabbf1ff074f" title="The reference to the configuration class.">_conf</a>-&gt;<a class="code" href="class_configuration.html#abb72b12442f449f9e1cb31c444b40927" title="The speed of the slower motor (in a left curve, left motor) during a 90° curve.">curveSpeedSlowMotor</a>, <a class="code" href="_move_8h.html#a4d576498f070661245f38f5f34d34f02a726a0af5164861adac8c015a742dcf21" title="The motor rotates forward.">forward</a>, <a class="code" href="class_line_follow.html#a0112816d723edd82daf2dabbf1ff074f" title="The reference to the configuration class.">_conf</a>-&gt;<a class="code" href="class_configuration.html#a5bca21a22d225315fca8088a4668d20c" title="The speed of the faster motor (in a left curve, right motor) during a 90° curve.">curveSpeedFastMotor</a>);
<a name="l00036"></a>00036 }
<a name="l00037"></a>00037 
<a name="l00043"></a><a class="code" href="class_curve_left.html#a34930d2641dbbd389c536999a560f158">00043</a> <span class="keywordtype">void</span> <a class="code" href="class_curve_left.html#a34930d2641dbbd389c536999a560f158">CurveLeft::doJob</a>(){
<a name="l00044"></a>00044   <span class="keywordflow">if</span>(<a class="code" href="class_line_follow.html#a0112816d723edd82daf2dabbf1ff074f" title="The reference to the configuration class.">_conf</a>-&gt;<a class="code" href="class_configuration.html#aa2238d49c21c52f8e86ff0ac80aff034" title="Interval in milliseconds in which the curve job shall be executed.">curveInterval</a> == 0 || millis() &gt; <a class="code" href="class_curve_left.html#a2906472b9d6c45308fe4e385df6c91b6" title="Holds the timestamp of the time when the last curve left check was done.">_timeLastCurveLeftCheck</a> + <a class="code" href="class_line_follow.html#a0112816d723edd82daf2dabbf1ff074f" title="The reference to the configuration class.">_conf</a>-&gt;<a class="code" href="class_configuration.html#aa2238d49c21c52f8e86ff0ac80aff034" title="Interval in milliseconds in which the curve job shall be executed.">curveInterval</a>){
<a name="l00045"></a>00045     <a class="code" href="class_curve_left.html#a2906472b9d6c45308fe4e385df6c91b6" title="Holds the timestamp of the time when the last curve left check was done.">_timeLastCurveLeftCheck</a> = millis();
<a name="l00046"></a>00046 
<a name="l00047"></a>00047     <span class="comment">//read the left line sensor, if it&#39;s already time to do so</span>
<a name="l00048"></a>00048     <span class="keywordflow">if</span>(<a class="code" href="class_line_follow.html#a0112816d723edd82daf2dabbf1ff074f" title="The reference to the configuration class.">_conf</a>-&gt;<a class="code" href="class_configuration.html#adec850d0b0519d7a799841e6086a777d" title="Time in milliseconds after which the end sensor (end sensor = sensor that will recognize when the cur...">curveActivateEndSensorOffset</a> == 0 || millis() &gt; <a class="code" href="class_curve_left.html#a3f46785750e729247f26099a93cfaeb9">_timeCurveLeftStarted</a> + <a class="code" href="class_line_follow.html#a0112816d723edd82daf2dabbf1ff074f" title="The reference to the configuration class.">_conf</a>-&gt;<a class="code" href="class_configuration.html#adec850d0b0519d7a799841e6086a777d" title="Time in milliseconds after which the end sensor (end sensor = sensor that will recognize when the cur...">curveActivateEndSensorOffset</a>){
<a name="l00049"></a>00049       <span class="keywordtype">int</span> sensorValues[2];
<a name="l00050"></a>00050       <a class="code" href="class_line_follow.html#af85fe355ee0699cabc3c817d10aa8b9d">readLineSensors</a>(sensorValues);
<a name="l00051"></a>00051 
<a name="l00052"></a>00052       <span class="keywordflow">if</span>(sensorValues[0] &lt; <a class="code" href="class_line_follow.html#a0112816d723edd82daf2dabbf1ff074f" title="The reference to the configuration class.">_conf</a>-&gt;<a class="code" href="class_configuration.html#a6c0d6f8b78ea6b6e167c80bce9447906" title="Threshold value from black to white.">lineFollowWhiteThreshold</a>){
<a name="l00053"></a>00053         <a class="code" href="class_line_follow.html#a8c494126e578f00240532b866b051718" title="The reference to the serial communication class.">_com</a>-&gt;<a class="code" href="class_communication.html#a8679b3cb7ceef5527faa24454ce0f18a">send</a>(66, sensorValues[0]);
<a name="l00054"></a>00054         <a class="code" href="class_line_follow.html#ac6fe17d43571248ea2e74fade7ceb5bd" title="The reference to the move class to control the motors.">_move</a>-&gt;<a class="code" href="class_move.html#a237261f2dd8fc115129f0ba998f13183">performFastStop</a>();
<a name="l00055"></a>00055         <a class="code" href="class_curve_left.html#a0f7c63a8242780be79a08482380d9caa" title="This variable is set to true as soon as the curve is driven fully.">drivingCurveIsFinished</a> = <span class="keyword">true</span>;
<a name="l00056"></a>00056       }
<a name="l00057"></a>00057     }
<a name="l00058"></a>00058   }
<a name="l00059"></a>00059 }
<a name="l00060"></a>00060 
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